Method and apparatus for tracking object, and method and apparatus for calculating object pose information

A method of calculating object pose information comprising:

• (a) detecting predetermined object feature points in a (N−1)-th (N is a positive integer greater than 1) frame;
• (b) estimating object feature point candidates of an N-th frame by using a difference between a pixel value of the (N−1)-th frame and a pixel value of the N-th frame;
• (c) estimating object feature points of the N-th frame by searching a predetermined region surrounding the estimated object feature point candidates of the N-th frame for a template similar to a predetermined template including the detected object feature points;
• and
• (d) calculating object pose information by using coordinate values detected in the (N−1)-th frame and coordinate values of the object feature points detected in the N-th frame.

An apparatus for tracking a video image object, the apparatus comprising:

• an initialization unit which initializes a tracking process by detecting object feature points from a video image;
• a first tracking unit which estimates object feature point candidates of an N-th frame by using a difference between a pixel value of an (N−1)-th (N is a positive integer greater than 1) frame and a pixel value of the N-th frame;
• and
• a second tracking unit which searches a predetermined region surrounding the determined object feature point candidates for a template similar to a template including the object feature points of the (N−1)-th frame and estimates the object feature points.

An apparatus for calculating object pose information, the apparatus comprising:

• an initialization unit which initializes a tracking process by detecting object feature points from a video image;
• a first tracking unit which estimates object feature point candidates of an N-th frame by using a difference between a pixel value of an (N−1)-th (N is a positive integer greater than 1) frame and a pixel value of the N-th frame;
• a second tracking unit which searches a predetermined region surrounding the determined object feature point candidates for a template similar to a template including the object feature points of the (N−1)-th frame and estimates the object feature points;
• and
• an object pose information calculation unit which calculates object pose information by using coordinate values of the object feature points detected by initializing the tracking process and coordinate values of the object feature points of the N-th frame.